JPH0624878U - SCARA robot - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a SCARA robot capable of using an arm that is inexpensive, lightweight, and highly rigid, and capable of preventing disconnection while achieving downsizing. [Structure] In a SCARA robot 10 in which arms 11a, 11b, 11c are sequentially connected, and motors 13a, 13b, 13c for driving the respective arms 11a, 11b, 11c are arranged, the motors 13a, 13b, 13c are Are installed in one main shaft 12, and each motor 13a, 13b,
13c and the respective arms 11a, 11b, 11c are connected by pulleys 16a, 16b, 16c and belts 15a, 15
SCARA type robot 1 performed via b and 15c
0.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a SCARA type robot, and more particularly to a SCARA type robot used for transporting workpieces and assembling parts.

[0002]

[Prior art]

 An outline of a conventional SCARA robot is shown in FIGS. 7 (a) and 7 (b). (A) is a schematic front view and (b) is a schematic plan view. In the figure, reference numeral 40 denotes a SCARA type robot, and the SCARA type robot 40 is configured to include arms 41a, 41b and 41c formed of a casting such as iron and a column 43. The arm 41a and the arm 41b are connected by a shaft 44a, and the arm 41b and the arm 41c are connected by a shaft 44b. Further, motors 42a, 42b, 42c for operating the respective arms 41a, 41b, 41c are placed on the arms 41a, 41b, 41c, and the arms 41a, 41b, 41c are moved in the directions of arrow A and arrow B, respectively. It is designed to move.

FIG. 8 is an enlarged perspective view of the arm 41b. A recess 45 for wiring and distribution is formed on the side surface of the arm 41b, and a hole 46 for penetrating the shaft 44b is formed facing each other at the tip of the upper surface and the lower surface of the arm 41b.

In the SCARA type robot configured as described above, the arms 41a, 41b, 41c are moved in the directions A and B by the operation of the motors 42a, 42b, 42c corresponding to the arms 41a, 41b, 41c. Then, the desired processing is performed.

[0005]

[Problems to be solved by the device]

 Normally, when operating a SCARA robot, the arm farther from the support column 43 requires a motor having a larger rotational force due to the added weight of the arms 41a, 41b, 41c. Further, in the conventional SCARA robot, the motors 42a, 42b, 42c for moving the arms 41a, 41b, 41c are mounted on the arms 41a, 41b, 41c, and therefore, the arms 41a, 41b, 41c. The weight of each motor 42a, 42b, 42c is added to the weight of each of the motors 42a, 42b, 42c, and the size of each motor 42a, 42b, 42c is increased. Therefore, the shape of the SCARA robot 40 becomes large as a whole and the appearance is impaired. There were challenges.

Further, the arms 41a, 41b, 41c are made of cast metal such as iron and have high rigidity, but they are heavy, and the heavy arms 41a, 41b, 41c are driven by the respective motors 42a, 42b. , 42c requires a large amount of power, leading to an increase in the size of the motor and an increase in cost.

In addition, since another clamp material or the like is used for the concave portion 45 when wiring, not only time is required for wiring and pipe processing, but also disconnection due to movement of the arms 41a, 41b, 41c. There was also a problem that it was likely to occur.

The present invention has been devised in view of the above problems, and is capable of achieving light weight, downsizing, and high rigidity, facilitating work such as wiring and piping, and preventing disconnection. The goal is to provide a SCARA robot that can achieve cost reductions while being able to achieve this.

[0009]

[Means for Solving the Problems]

 In order to achieve the above object, a SCARA robot according to the present invention is a SCARA robot in which a plurality of arms are sequentially connected and a motor for driving each arm is arranged. The motor is connected to each arm via a pulley and a belt, and the SCARA robot according to the present invention has a plurality of arms sequentially connected to drive each arm. In the SCARA type robot provided with the motor, each arm is constituted by a hollow body formed by sheet metal working.

[0010]

[Action]

 According to the above configuration, a plurality of motors for driving each arm are mounted on one main shaft, and the connection between each motor and each arm is made via the pulley and the belt. By concentrating the motor on the main shaft, the weight of the motor is not added to each arm, the driving force of the motor is small, and not only can the motor be miniaturized, but also the wiring needs to be routed. It is possible to prevent disconnection and improve the appearance.

Further, when each arm is formed of a hollow body formed by sheet metal working, not only is the arm lightened and the rigidity is increased, but also the driving force of the motor is made small and The size can be reduced and the cost can be reduced. Further, the pipe and the wiring are housed in the hollow body and cannot be seen from the outside, so that the pipe and wiring can be easily treated and the appearance is not damaged.

[0012]

【Example】

 An embodiment of a SCARA type robot according to the present invention will be described below with reference to the drawings. FIG. 1 is a cross-sectional view schematically showing a SCARA robot according to an embodiment. In FIG. 1, reference numeral 10 denotes the SCARA robot, and the SCARA robot 10 includes an arm portion 11 and a spindle 12. It is configured. The arm portion 11 is composed of a first arm 11a, a second arm 11b and a third arm 11c. The main shaft 12 and the third arm 11c are connected via a bearing 18, and the bearing 18 has a three shaft 14c. It is supported. The third arm 11c and the second arm 11b are connected via the biaxial 14b, and the second arm 11b and the first arm 11a are connected via the monoaxial 14a.

On the other hand, the spindle 12 has a uniaxial motor 13a for moving the uniaxial 14a, a biaxial motor 13b for moving the biaxial 14b, and a triaxial motor 13c for moving the triaxial 14c. It is internally provided, and the power of the motors 13a, 13b, 13c is transmitted via the belts 15a, 15b, 15c and the pulleys 16a, 16b, 16c, respectively.

FIG. 2 is a schematic enlarged cross-sectional view showing a connecting portion of the arm 11, for example, a connecting portion between the third arm 11c and the second arm 11b as an example. Reference numeral 16a in the drawing denotes a pulley. The pulley 16a is engaged with the belts 15a and 15a, and a bearing 17 supporting the pulley 16c can idle the biaxial shaft 14b.

In the SCARA type robot configured as described above, when the third arm 11c is operated, when the triaxial motor 13c is driven, the rotation of the triaxial motor 13c is transmitted from the belt 15c to the pulley 16c. The shaft 14c rotates. Then, the rotation of the triaxial 14c activates the third arm 11c which is in a fixed relationship with the triaxial 14c. Next, when the second arm 11b is operated, when the biaxial motor 13b is driven, the rotation of the biaxial motor 13b is transmitted to the pulley 16b via the belt 15b. As shown in FIG. 2, the pulley 16b is free to rotate with respect to the triaxial shaft 14c via the bearing 17, and the rotational force transmitted to the pulley 16b is further transmitted to the belt 15b on the front end side. The shaft 14b is activated and the second arm 11b is activated. Further, when operating the first arm 11a, when the uniaxial motor 13a is driven, the rotation of the uniaxial motor 13a is transmitted to the pulley 16a via the belt 15a, and the pulley 16a is supported by the bearing 17 with respect to the triaxial 14c. The rotation of the uniaxial motor 13a is transmitted to the belt 15a at the front end while idling, and the force transmitted from the belt 15a is further transmitted to the belt 15a via the pulley 16a on the front end to rotate the uniaxial 14a. , The first arm 11a is activated. At this time, the rotation speed of the motor is decelerated, and the magnitude of deceleration is determined by the ratio of the diameter of the pulley 16a.

In the present embodiment, the motors 13a, 13b, 13c are built in the main shaft 12, and are not installed on the first arm 11a, the second arm 11b, and the third arm 11c, but the first arm 11a, Since the belt 15a, 15b, 15c and the pulleys 16a, 16b, 16c all transmit the driving force for moving the second arm 11b and the third arm 11c, disconnection of wiring and piping can be prevented, Further, the driving force of the 1-axis motor 13a, the 2-axis motor 13b, and the 3-axis motor 13c can be reduced without impairing the appearance, and the SCARA robot 10 can be downsized. You can

FIG. 3 is a schematic perspective view showing the arm body 20 of the SCARA robot according to the embodiment. The arm body 20 is formed of a hollow body formed by sheet metal working. Notches 20a are formed on both sides of the rear surface of the arm body 20, and the notches are formed in the upper and lower support pieces 23 formed on the front surface of the arm body 20 so as to face the notches of the notches 20a. 23a is formed. Two screw holes 24 are formed in each of the upper and lower support pieces 23.

4 (a) and 4 (b) are a perspective view showing the front side and a back side of the lid body 21, and an interposition part 25 is formed on both sides of the lid body 21. Screw holes 26 are formed at four positions corresponding to the screw holes 24 of the arm body 20. An L-shaped plate 22 is fixed to the lid body 21 by spot welding at approximately the center of the back surface of the lid body 21.

FIG. 5 is a perspective view showing an arm 30 formed by assembling the arm body 20 and the lid body 21 configured as described above, and FIG. 6 is a sectional view schematically showing the arm 30. Is. By inserting the lid body 21 into the arm main body 20 in the direction of the arrow shown in FIG. 3, the inside of the arm 30 is partitioned by the L-shaped plate 22 into upper and lower parts, so that the belt 15a, 15b, 15c and the pulleys 16a, 16b are located above. , 16c, etc., and the lower part thereof can be used separately as a space for passing electrical wiring and piping. Further, the notches 20a and 23b can be used as a relief when connecting with another arm 30, preventing not only disconnection, but also by attaching the lid 21 after wiring. Good, processing from the outside of the wiring and piping becomes easy.

Further, since the interposition portion 25 of the lid body 21 intervenes in the notch portion 23a formed in the support piece 23 of the arm body 20, it is possible to prevent the upper surface and the lower surface of the arm body 20 from bending inward. . Further, since the contact surface 23b of the support piece 23 and the contact surface 22a of the L-shaped plate 22 are overlapped and tightly fitted to each other, the displacement due to the twist of the arm body 21 can be prevented. Further, since the arm 30 is formed by sheet metal processing, it is lightweight as a whole and has high rigidity, which can reduce costs such as material cost and processing cost, and also downsizing the motors 13a, 13b, 13c. It is possible to achieve further reduction in weight and size.

[0021]

[Effect of device]

 As described in detail above, in the SCARA robot according to the present invention, the motors are incorporated in one main shaft, and the connection between each motor and each arm is performed via the pulley and the belt. The motor is concentrated on the main shaft, the weight of the motor is not added to each arm, the driving force of each motor can be made small, and not only can the motor be miniaturized, but also the motor can be made smaller. It is possible to reduce the size as a whole by eliminating the protrusion from the arm, and to prevent disconnection.

Further, in the SCARA robot according to the present invention, since each of the arms is formed of a hollow body formed by sheet metal processing, the pipe and the wiring are housed in the hollow body, which facilitates the processing of the pipe and the wiring and the appearance. It will not damage. In addition, it is lightweight and has only high rigidity, so that it is possible to reduce costs such as material cost and processing cost.

[Brief description of drawings]

FIG. 1 is a schematic sectional view showing an embodiment of a SCARA type robot according to the present invention.

FIG. 2 is a schematic enlarged view showing a main part of an arm according to an embodiment of the present invention.

FIG. 3 is a perspective view showing an embodiment of an arm body of a SCARA type robot according to the present invention.

FIG. 4A is a perspective view of the lid of the SCARA robot according to the embodiment as viewed from the front side, and FIG. 4B is a perspective view of the lid of the SCARA robot according to the embodiment as viewed from the back side. It is a figure.

FIG. 5 is a perspective view showing an arm according to an embodiment.

FIG. 6 is a cross-sectional view showing an arm according to an example.

7A and 7B are a schematic side view and a schematic plan view showing a conventional SCARA robot.

FIG. 8 is a schematic enlarged perspective view showing an arm of a conventional SCARA robot.

[Explanation of symbols]

 10 SCARA Robot 11a, 11b, 11c, 30 Arm 12 Spindle 13a, 13b, 13c Motor 15a, 15b, 15c Belt 16a, 16b, 16c Pulley

Claims (2)

[Scope of utility model registration request] 1. In a SCARA type robot in which a plurality of arms are sequentially connected and a motor for driving each of the arms is arranged, the motor is incorporated in one main shaft, and the motor is connected to each of the arms. Is a scalar type robot characterized by being carried out via a pulley and a belt. 2. A SCARA type robot in which a plurality of arms are sequentially connected and a motor for driving each of the arms is arranged, wherein each of the arms is formed of a hollow body formed by sheet metal working. Type robot.